Hardware

Mechanical design

|1000mm*550mm

|18kg

|Timing belt

reducer -

Maximum

output-

40N*M

8DOF Quad tiny / 12DOF Quad tiny Module design

12DOF Quad bai

|180mm*87mm

|470g

|Capstan

reducer –

Maximum

output-

0.8N*M

Joint actuator

Mechanical design

Quad tiny – Capstan reducer 6:1

Pros:

|Without backlash, small moment

of inertia, achievable high

transmission ratio in limited space

Cons:

|Pre-tensioned rope is vital

Motor

Capstan1

Capstan2

Quad bai – Timing belt reducer 9:1

Pros:

|Small backlash, small moment

of inertia,

Cons:

|Higher friction, timing belt

needed to be tensioned

Motor

Timing belt 1

Timing belt 2

Leg

Mechanical design for quad tiny

For Quad tiny

| Parallel leg mechanical design

Guidelines

| Low weight/moment of inertia

/sufficient strength

L1

L2

L4

L3

Simulation of leg’s workspace

Actuator 1

Actuator 2

Replaceable foot

Single leg demo

Single leg demo

Actuator 1

Actuator 2

Replaceable foot

Actuator 3

Leg

Mechanical design for quad bai

Guidelines

| Low weight/moment of inertia

/sufficient strength

For Quad tiny

| Serial leg design

Assembly a leg

Eletronic

driver/controller for quad tiny

Motor driver_ gen 1:

|Atmega328/Drv8313/AS5600

|IIC*1/UART*1 Maximum 1.5A / 5.4g

Motor driver_ gen 2:

|STM32f446/Drv8313/AS5600

|IIC*1/UART*2/CAN*1/SPI*1 with torque control mode

Controller board:

|Esp32 Bluetooth/WIFI/IMU

|IIC*1/UART*1/SPI*1

|Battery management，4S 450mah Lion bat

Controller ESP32

驱动

驱动

Drv

驱动

驱动

驱动

驱动

驱动

驱动

驱动

驱动

驱动

IIC

UART

SIM

v-rep simulation of quad tiny

|Hopping torque simed

|Hopping with feedforward controller

|2021, Shuang Peng, www.psrobotics.tech